Apparatus for centering and loading flat format parts in a press

Abstract

Apparatus and methods for loading parts in a press wherein a conveyor transports the parts in a forward movement direction towards the press. An optical measuring device determines the real position of the parts on the conveyor. At least two transfer devices are configured to grab the parts off the conveyor and place them directly on a first surface of the press. A control unit is configured to receive the real position of the parts determined by the optical measuring device, and to compare the real position with a theoretical loading position of the parts on the first surface of the press. The control unit determines a deviation between the real and theoretical loading positions and uses the calculated deviation to command the transfer devices to correct the deviation and to place the parts on the first surface of the press in the theoretical position.

What is claimed is: 
     
       1. An apparatus for loading flat format parts of a first shape in a press, the apparatus comprising:
 the press, the press including a first surface onto which each of the flat format parts is to be placed in a theoretical loading position, the press further including a second surface facing the first surface, the first and second surfaces are configured to repeatably cooperate with one another to act on the flat format parts to create parts having a second shape that is different than the first shape; 
 a first conveyor located upstream the press and configured to carry the flat format parts in a forward movement direction towards the press; 
 an optical measuring device that is configured to determine a real position of each of the flat format parts on the first conveyor; 
 a first transfer device and a second transfer device that is each configured to respectively grab a first flat format part residing in a first real position on the first conveyor and a second flat format part residing in a second real position on the first conveyor; and 
 a control unit configured to receive output signals from the optical measuring device that are indicative of the first and second real positions, the control unit configured to determine a first deviation between the first real position and the theoretical loading position of the first flat format part and to determine a second deviation between the second real position and the theoretical loading position of the second flat format part, the control unit is configured to use the calculated first deviation to command the first transfer device to alter the position of the first flat format part to correct the first deviation and to place the first flat format part on the first surface of the press in the theoretical loading position of the first format part after altering the position of the first flat format part, the control unit is configured to use the calculated second deviation to command the second transfer device to alter the position of the second flat format part to correct the second deviation and to place the second flat format part on the first surface of the press in the theoretical loading position of the second format part after altering the position of the second flat format part, 
 each of the first and second transfer devices including a flexible gripping device with supporting arms having gripping elements coupled thereto, the flexible gripping device being coupled to a crosspiece which is shiftable according to a first movement (A 1 ) parallel to the forward movement direction and a second movement (A 2 ) perpendicular to the forward movement direction (A), the flexible gripping device being shiftable according to a third vertical movement (A 3 ) with respect to the first conveyor, the flexible gripping device being rotatable with respect to the crosspiece according to first a rotational movement (R 1 ) about a first shaft that is arranged perpendicular to the forward movement direction. 
 
     
     
       2. The apparatus according to  claim 1 , wherein the control unit is configured to cause the first and second transfer devices to respectively place the first and second flat format part on the first surface of the press simultaneously. 
     
     
       3. The apparatus according to  claim 1 , further comprising an unstacking area located upstream of the first conveyor, located in the unstacking area are first and second unstacking devices that is each configured to unstack the flat formats parts arranged in a single stack in the unstacking area. 
     
     
       4. The apparatus according to  claim 3 , wherein the first unstacking device and the second unstacking device are configured to unstack the flat format parts in the single stack in an alternating manner. 
     
     
       5. The apparatus according to  claim 1 , wherein the first and second transfer devices are located between the first conveyor and the press and are arranged in parallel with one another with respect to the forward movement direction. 
     
     
       6. The apparatus according to  claim 1 , wherein the flexible gripping device is tiltable with respect to the crosspiece according to a second rotational movement (R 2 ) about a second shaft which is arranged parallel to the forward movement direction. 
     
     
       7. The apparatus according to  claim 1 , wherein each of the first and second transfer devices includes a transfer carriage that is shiftable on a beam according to the second movement (A 2 ) perpendicular to the forward movement direction (A), and the crosspiece of each of the first and second transfer devices is shiftable on the transfer carriage according to the first movement (A 1 ). 
     
     
       8. The apparatus according to  claim 1 , wherein each of the first and second transfer devices includes a transfer carriage that is shiftable on a single beam according to the second movement (A 2 ) perpendicular to the forward movement direction (A), and the crosspiece of each of the first and second transfer devices is shiftable on the transfer carriage according to the first movement (A 1 ). 
     
     
       9. The apparatus according to  claim 1 , wherein each of the first and second transfer devices includes a flexible gripping device with a plurality of support arms, each of the plurality of support arm including one or more gripping elements. 
     
     
       10. The apparatus according to  claim 1 , wherein the theoretical loading position of the first flat format part and the theoretical loading position of the second flat format part are the same. 
     
     
       11. An apparatus for loading flat format parts of a first shape in a press, the apparatus comprising:
 the press, the press including a first surface onto which each of the flat format parts is to be placed in a theoretical loading position, the press further including a second surface facing the first surface, the first and second surfaces are configured to repeatably cooperate with one another to act on the flat format parts to create parts having a second shape that is different than the first shape; 
 a first conveyor located upstream the press and configured to carry the flat format parts in a forward movement direction towards the press; 
 an optical measuring device that is configured to determine a real position of each of the flat format parts on the first conveyor; 
 a first transfer device and a second transfer device that is each configured to respectively grab a first flat format part residing in a first real position on the first conveyor and a second flat format part residing in a second real position on the first conveyor; 
 a control unit configured to receive output signals from the optical measuring device that are indicative of the first and second real positions, the control unit configured to determine a first deviation between the first real position and the theoretical loading position of the first flat format part and to determine a second deviation between the second real position and the theoretical loading position of the second flat format part, the control unit is configured to use the calculated first deviation to command the first transfer device to alter the position of the first flat format part to correct the first deviation and to place the first flat format part on the first surface of the press in the theoretical loading position of the first format part after altering the position of the first flat format part, the control unit is configured to use the calculated second deviation to command the second transfer device to alter the position of the second flat format part to correct the second deviation and to place the second flat format part on the first surface of the press in the theoretical loading position of the second format part after altering the position of the second flat format part; and 
 an unstacking area located upstream of the first conveyor, located in the unstacking area are first and second unstacking devices that is each configured to unstack the flat format parts arranged in one or more stacks in the unstacking area, each of the first and second unstacking devices includes a flexible gripping device with support arms having gripping elements coupled thereto, the flexible gripping device being coupled to a crossbar that is movable according to a first translational movement (T 1 ) parallel to the forward movement direction (A) to respectively move the first and second unstacking devices outside the first and second part collecting areas, the crossbar being attached to a translation carriage that is movable on a beam according to a second translation movement (T 2 ) perpendicular to the forward movement direction (A). 
 
     
     
       12. The apparatus according to  claim 11 , wherein the one or more stacks include a first part stack from which the first unstacking device unstacks the flat format parts and a second part stack from which the second unstacking device unstacks the flat format parts. 
     
     
       13. The apparatus according to  claim 11 , further comprising a second conveyor located in the unstacking area, the second conveyor being aligned with the first conveyor and being configured to transport the unstacked flat format parts in the forward movement direction towards the first conveyor, the unstacking area further including a first part collecting area arranged on a first side of the second conveyor and a second part collecting area on a second side of the second conveyor, the second side being opposite the first side, the first and second unstacking devices being respectively located in the first and second part collecting area with the first unstacking device being configured to transport unstacked flat format parts to the second conveyor. 
     
     
       14. The apparatus according to  claim 13 , wherein the first and second unstacking devices are configured to transport the unstacked flat format parts to the second conveyor in a same horizontal plane, with the first and second unstacking devices being respectively movable outside the first and second part collecting areas. 
     
     
       15. An apparatus for loading flat format parts of a first shape in a press, the apparatus comprising:
 the press, the press including a first surface onto which each of the flat format parts is to be placed in a theoretical loading position, the press further including a second surface facing the first surface, the first and second surfaces are configured to repeatably cooperate with one another to act on the flat format parts to create parts having a second shape that is different than the first shape; 
 a first conveyor located upstream the press and configured to carry the flat format parts in a forward movement direction towards the press; 
 an optical measuring device that is configured to determine a real position of each of the flat format parts on the first conveyor; 
 a first transfer device and a second transfer device that is each configured to respectively grab a first flat format part residing in a first real position on the first conveyor and a second flat format part residing in a second real position on the first conveyor; 
 a control unit configured to receive output signals from the optical measuring device that are indicative of the first and second real positions, the control unit configured to determine a first deviation between the first real position and the theoretical loading position of the first flat format part and to determine a second deviation between the second real position and the theoretical loading position of the second flat format part, the control unit is configured to use the calculated first deviation to command the first transfer device to alter the position of the first flat format part to correct the first deviation and to place the first flat format part on the first surface of the press in the theoretical loading position of the first format part after altering the position of the first flat format part, the control unit is configured to use the calculated second deviation to command the second transfer device to alter the position of the second flat format part to correct the second deviation and to place the second flat format part on the first surface of the press in the theoretical loading position of the second format part after altering the position of the second flat format part; and 
 a third transfer device that is configured to grab a third flat format part residing in a third real position on the first conveyor, the control unit configured to receive an output signal from the optical measuring device that is indicative of the third real position and to determine a third deviation between the third real position and the theoretical loading position of the third flat format part, the control unit configured to use the calculated third deviation to command the third transfer device to alter the position of the third flat format part to correct the third deviation and to place the third flat format part on the first surface of the press in the theoretical loading position of the third flat format part after altering the position of the third flat format part. 
 
     
     
       16. The apparatus according to  claim 15 , wherein the control unit is configured to cause the first, second and third transfer devices to respectively place the first, second and third flat format part on the first surface of the press simultaneously. 
     
     
       17. The apparatus according to  claim 15 , wherein the first, second and third transfer devices are each located between the first conveyor and the press and are arranged parallel with one another with respect to the forward movement direction. 
     
     
       18. The apparatus according to  claim 15 , wherein the theoretical loading position of the first flat format part, the theoretical loading position of the second flat format part and the theoretical loading position of the third flat format part are the same.